#!/bin/zsh

roscore&
sleep 3

imu_fix_port='/dev/ttyUSB0'
imu_rotate_port='/dev/ttyUSB1'
encoder_port='/dev/ttyUSB2'

gnome-terminal  \
 --tab -t "camera" -e "bash -c 'roslaunch usb_cam cam1.launch;exec bash'"\
 --tab -t "encoder_data" -e "bash -c 'python ~/jetson_datasave/encoder_ros.py --tty_usb=$encoder_port;exec bash'"\
 --tab -t "IMU" -e "bash -c 'roslaunch wit_ros_imu wit_imu.launch port_fix:=$imu_fix_port port_rotate:=$imu_rotate_port;exec bash'"\